GCC Code Coverage Report

Directory:	./
File:	tests/test-transition.cpp
Date:	2025-03-18 04:20:50

	Exec	Total	Coverage
Lines:	539	539	100.0%
Branches:	1760	3488	50.5%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2018 CNRS
3			// Authors: Pierre Fernbach
4			//
5			// This file is part of bezier_COM_traj
6			// hpp-core is free software: you can redistribute it
7			// and/or modify it under the terms of the GNU Lesser General Public
8			// License as published by the Free Software Foundation, either version
9			// 3 of the License, or (at your option) any later version.
10			//
11			// hpp-core is distributed in the hope that it will be
12			// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13			// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14			// General Lesser Public License for more details. You should have
15			// received a copy of the GNU Lesser General Public License along with
16			// hpp-core If not, see
17			// <http://www.gnu.org/licenses/>.
18
19			#define BOOST_TEST_MODULE transition
20			#include <boost/test/included/unit_test.hpp>
21			#include <hpp/bezier-com-traj/common_solve_methods.hh>
22			#include <hpp/bezier-com-traj/data.hh>
23			#include <hpp/bezier-com-traj/solve.hh>
24			#include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
25
26			#include "test_helper.hh"
27
28			#define NOMINAL_COM_HEIGHT 0.795
29
30		47	std::vector<double> computeDiscretizedTime(const VectorX& phaseTimings,
31			const int pointsPerPhase) {
32		47	std::vector<double> timeArray;
33		47	double t = 0;
34		47	double t_total = 0;
35	3/4 ✓ Branch 1 taken 135 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 135 times. ✓ Branch 5 taken 47 times.	182	for (long int i = 0; i < phaseTimings.size(); ++i) t_total += phaseTimings[i];
36
37	2/2 ✓ Branch 1 taken 135 times. ✓ Branch 2 taken 47 times.	182	for (long int i = 0; i < phaseTimings.size(); ++i) {
38	1/2 ✓ Branch 1 taken 135 times. ✗ Branch 2 not taken.	135	double step = (double)phaseTimings[i] / pointsPerPhase;
39	2/2 ✓ Branch 0 taken 675 times. ✓ Branch 1 taken 135 times.	810	for (int j = 0; j < pointsPerPhase; ++j) {
40		675	t += step;
41	1/2 ✓ Branch 1 taken 675 times. ✗ Branch 2 not taken.	675	timeArray.push_back(t);
42			}
43			}
44		47	timeArray.pop_back();
45	1/2 ✓ Branch 1 taken 47 times. ✗ Branch 2 not taken.	47	timeArray.push_back(t_total); // avoid numerical errors
46		94	return timeArray;
47			}
48
49		763	bool check_constraints(const bezier_com_traj::ContactData& contactPhase,
50			Vector3 c, Vector3 dc, Vector3 ddc) {
51	7/14 ✓ Branch 3 taken 763 times. ✗ Branch 4 not taken. ✓ Branch 9 taken 763 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 763 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 763 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 763 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 763 times. ✗ Branch 22 not taken. ✗ Branch 27 not taken. ✓ Branch 28 taken 763 times.	763	BOOST_CHECK(verifyKinematicConstraints(
52			std::make_pair(contactPhase.Kin_, contactPhase.kin_), c));
53	10/20 ✓ Branch 3 taken 763 times. ✗ Branch 4 not taken. ✓ Branch 9 taken 763 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 763 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 763 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 763 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 763 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 763 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 763 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 763 times. ✗ Branch 31 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 763 times.	763	BOOST_CHECK(
54			verifyStabilityConstraintsDLP(*contactPhase.contactPhase_, c, dc, ddc));
55	10/20 ✓ Branch 3 taken 763 times. ✗ Branch 4 not taken. ✓ Branch 9 taken 763 times. ✗ Branch 10 not taken. ✓ Branch 12 taken 763 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 763 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 763 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 763 times. ✗ Branch 22 not taken. ✓ Branch 24 taken 763 times. ✗ Branch 25 not taken. ✓ Branch 27 taken 763 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 763 times. ✗ Branch 31 not taken. ✗ Branch 36 not taken. ✓ Branch 37 taken 763 times.	763	BOOST_CHECK(
56			verifyStabilityConstraintsPP(*contactPhase.contactPhase_, c, dc, ddc));
57		763	return true;
58			}
59
60		47	void discretized_check(const bezier_com_traj::ProblemData& pData,
61			const VectorX& Ts,
62			const bezier_com_traj::ResultDataCOMTraj& res,
63			const int pointsPerPhase, const double t_total) {
64			// check if timing is respected
65	1/2 ✓ Branch 1 taken 47 times. ✗ Branch 2 not taken.	47	std::vector<double> timings = computeDiscretizedTime(Ts, pointsPerPhase);
66	5/10 ✓ Branch 1 taken 47 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 47 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 47 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 47 times. ✗ Branch 15 not taken. ✗ Branch 18 not taken. ✓ Branch 19 taken 47 times.	47	BOOST_CHECK_EQUAL(timings.back(), t_total);
67
68	3/6 ✓ Branch 1 taken 47 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 47 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 47 times. ✗ Branch 8 not taken.	47	Vector3 c, dc, ddc;
69	1/2 ✓ Branch 1 taken 47 times. ✗ Branch 2 not taken.	47	bezier_com_traj::bezier_t ct = res.c_of_t_;
70	1/2 ✓ Branch 1 taken 47 times. ✗ Branch 2 not taken.	47	bezier_com_traj::bezier_t dct = ct.compute_derivate(1);
71	1/2 ✓ Branch 1 taken 47 times. ✗ Branch 2 not taken.	47	bezier_com_traj::bezier_t ddct = dct.compute_derivate(1);
72
73	5/10 ✓ Branch 1 taken 47 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 47 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 47 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 47 times. ✗ Branch 15 not taken. ✗ Branch 18 not taken. ✓ Branch 19 taken 47 times.	47	BOOST_CHECK_EQUAL(ct.min(), 0);
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75	5/10 ✓ Branch 1 taken 47 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 47 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 47 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 47 times. ✗ Branch 15 not taken. ✗ Branch 18 not taken. ✓ Branch 19 taken 47 times.	47	BOOST_CHECK_EQUAL(ddct.min(), 0);
76	5/10 ✓ Branch 1 taken 47 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 47 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 47 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 47 times. ✗ Branch 15 not taken. ✗ Branch 18 not taken. ✓ Branch 19 taken 47 times.	47	BOOST_CHECK_EQUAL(ct.max(), t_total);
77	5/10 ✓ Branch 1 taken 47 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 47 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 47 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 47 times. ✗ Branch 15 not taken. ✗ Branch 18 not taken. ✓ Branch 19 taken 47 times.	47	BOOST_CHECK_EQUAL(dct.max(), t_total);
78	5/10 ✓ Branch 1 taken 47 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 47 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 47 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 47 times. ✗ Branch 15 not taken. ✗ Branch 18 not taken. ✓ Branch 19 taken 47 times.	47	BOOST_CHECK_EQUAL(ddct.max(), t_total);
79
80			// check if each discretized point is feasible :
81
82			std::vector<int>
83		47	stepIdForPhase; // stepIdForPhase[i] is the id of the last step of phase
84			// i / first step of phase i+1 (overlap)
85	2/2 ✓ Branch 1 taken 135 times. ✓ Branch 2 taken 47 times.	182	for (int i = 0; i < Ts.size(); ++i)
86	1/2 ✓ Branch 1 taken 135 times. ✗ Branch 2 not taken.	135	stepIdForPhase.push_back(pointsPerPhase * (i + 1) - 1);
87		47	std::size_t id_phase = 0;
88	1/2 ✓ Branch 2 taken 47 times. ✗ Branch 3 not taken.	47	bezier_com_traj::ContactData phase = pData.contacts_[id_phase];
89
90	2/2 ✓ Branch 1 taken 675 times. ✓ Branch 2 taken 47 times.	722	for (size_t id_step = 0; id_step < timings.size(); ++id_step) {
91	1/2 ✓ Branch 2 taken 675 times. ✗ Branch 3 not taken.	675	c = ct(timings[id_step]);
92	1/2 ✓ Branch 2 taken 675 times. ✗ Branch 3 not taken.	675	dc = dct(timings[id_step]);
93	1/2 ✓ Branch 2 taken 675 times. ✗ Branch 3 not taken.	675	ddc = ddct(timings[id_step]);
94
95			// check i (c,dc,ddc) verify the constraints of current phase
96	4/8 ✓ Branch 1 taken 675 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 675 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 675 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 675 times. ✗ Branch 11 not taken.	675	check_constraints(phase, c, dc, ddc);
97
98			// check if we switch phases
99	2/2 ✓ Branch 1 taken 1320 times. ✓ Branch 2 taken 675 times.	1995	for (std::size_t i = 0; i < (stepIdForPhase.size() - 1); ++i) {
100	2/2 ✓ Branch 1 taken 88 times. ✓ Branch 2 taken 1232 times.	1320	if (id_step == (std::size_t)stepIdForPhase[i]) {
101		88	id_phase = i + 1;
102	1/2 ✓ Branch 2 taken 88 times. ✗ Branch 3 not taken.	88	phase = pData.contacts_[id_phase];
103	4/8 ✓ Branch 1 taken 88 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 88 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 88 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 88 times. ✗ Branch 11 not taken.	88	check_constraints(phase, c, dc, ddc);
104			}
105			}
106			}
107		47	}
108
109		51	void check_transition(bezier_com_traj::ProblemData& pData, VectorX Ts,
110			bool shouldFail = false, bool continuous = false,
111			bool test_continuous = true) {
112	5/10 ✓ Branch 1 taken 51 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 51 times. ✗ Branch 6 not taken. ✓ Branch 12 taken 51 times. ✗ Branch 13 not taken. ✓ Branch 15 taken 51 times. ✗ Branch 16 not taken. ✗ Branch 19 not taken. ✓ Branch 20 taken 51 times.	51	BOOST_CHECK_EQUAL(pData.contacts_.size(), Ts.size());
113
114		51	double t_total = 0;
115	3/4 ✓ Branch 1 taken 147 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 147 times. ✓ Branch 5 taken 51 times.	198	for (long int i = 0; i < Ts.size(); ++i) t_total += Ts[i];
116
117		51	int pointsPerPhase = 5;
118
119			// check if transition is feasible (should be)
120	1/2 ✓ Branch 1 taken 51 times. ✗ Branch 2 not taken.	51	bezier_com_traj::ResultDataCOMTraj res;
121	2/2 ✓ Branch 0 taken 28 times. ✓ Branch 1 taken 23 times.	51	if (continuous) {
122			// testing all available solvers
123	1/2 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken.	56	res = bezier_com_traj::computeCOMTraj(pData, Ts, -1,
124	1/2 ✓ Branch 1 taken 28 times. ✗ Branch 2 not taken.	28	solvers::SOLVER_QUADPROG);
125		28	if (pData.representation_ == bezier_com_traj::FORCE) {
126			/*bezier_com_traj::ResultDataCOMTraj res2 =
127			bezier_com_traj::computeCOMTraj(pData,Ts,-1,solvers::SOLVER_QUADPROG_SPARSE);
128			BOOST_CHECK(res.success_ == res2.success_);
129			if(res.success_)
130			{
131			std::cout << " x " << res.cost_ << std::endl;
132			std::cout << " x2 " << res2.cost_ << std::endl;
133			discretized_check(pData,Ts,res2,pointsPerPhase,t_total);
134			BOOST_CHECK(!res.success_ \|\| (res.x.head<3>() -
135			res2.x.head<3>()).norm() < EPSILON);
136			}*/
137			#ifdef USE_GLPK_SOLVER
138			// clock_t s0,e0;
139			// s0 = clock();
140			bezier_com_traj::ResultDataCOMTraj res3 =
141			bezier_com_traj::computeCOMTraj(pData, Ts, -1, solvers::SOLVER_GLPK);
142			// e0 = clock();
143			// std::cout<<"Time to perform full lp :
144			// "<<((double)(e0-s0)/CLOCKS_PER_SEC)*1000.<<" ms "<<std::endl;
145			BOOST_CHECK(res.success_ == res3.success_);
146			if (res3.success_) {
147			discretized_check(pData, Ts, res3, pointsPerPhase, t_total);
148			}
149			#endif
150			}
151			} else
152	2/4 ✓ Branch 1 taken 23 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 23 times. ✗ Branch 5 not taken.	23	res = bezier_com_traj::computeCOMTrajFixedSize(pData, Ts, pointsPerPhase);
153
154	2/2 ✓ Branch 0 taken 4 times. ✓ Branch 1 taken 47 times.	51	if (shouldFail) {
155	6/12 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 4 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 4 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 4 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 4 times.	4	BOOST_CHECK(!res.success_);
156	1/2 ✓ Branch 0 taken 4 times. ✗ Branch 1 not taken.	4	if (test_continuous) {
157	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	8	res = bezier_com_traj::computeCOMTraj(pData, Ts, -1,
158	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	solvers::SOLVER_QUADPROG);
159	6/12 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 4 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 4 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 4 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 4 times.	4	BOOST_CHECK(!res.success_);
160		4	pData.representation_ = bezier_com_traj::FORCE;
161	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	8	res = bezier_com_traj::computeCOMTraj(pData, Ts, -1,
162	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	solvers::SOLVER_QUADPROG);
163	6/12 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 4 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 4 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 4 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 4 times.	4	BOOST_CHECK(!res.success_);
164			#ifdef USE_GLPK_SOLVER
165			res =
166			bezier_com_traj::computeCOMTraj(pData, Ts, -1, solvers::SOLVER_GLPK);
167			BOOST_CHECK(!res.success_);
168			#endif
169			}
170		4	return;
171			}
172
173	6/12 ✓ Branch 1 taken 47 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 47 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 47 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 47 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 47 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 47 times.	47	BOOST_CHECK(res.success_);
174
175	2/4 ✓ Branch 0 taken 47 times. ✗ Branch 1 not taken. ✓ Branch 3 taken 47 times. ✗ Branch 4 not taken.	47	if (res.success_) discretized_check(pData, Ts, res, pointsPerPhase, t_total);
176	2/2 ✓ Branch 0 taken 28 times. ✓ Branch 1 taken 19 times.	47	if (continuous &&
177	2/2 ✓ Branch 0 taken 14 times. ✓ Branch 1 taken 14 times.	28	pData.representation_ == bezier_com_traj::DOUBLE_DESCRIPTION) {
178		14	pData.representation_ = bezier_com_traj::FORCE;
179	2/4 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 14 times. ✗ Branch 5 not taken.	14	check_transition(pData, Ts, shouldFail, true);
180	4/4 ✓ Branch 0 taken 19 times. ✓ Branch 1 taken 14 times. ✓ Branch 2 taken 14 times. ✓ Branch 3 taken 5 times.	33	} else if (!continuous && test_continuous)
181	2/4 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 14 times. ✗ Branch 5 not taken.	14	check_transition(pData, Ts, shouldFail, true);
182			else {
183	2/2 ✓ Branch 1 taken 55 times. ✓ Branch 2 taken 19 times.	74	for (size_t i = 0; i < pData.contacts_.size(); ++i) {
184	1/2 ✓ Branch 1 taken 55 times. ✗ Branch 2 not taken.	55	delete pData.contacts_[i].contactPhase_;
185			}
186			}
187	2/2 ✓ Branch 1 taken 47 times. ✓ Branch 2 taken 4 times.	51	}
188
189			BOOST_AUTO_TEST_SUITE(flat_ground)
190
191			// one step (left foot) : init pos of end effector : (0,0.1)(0,-0.1)
192			// end pos : (0.3,0.1)(0,-0.1)
193			// three phases : both feet in contact, only right feet, both feet
194
195		20	bezier_com_traj::ContactData phase0_flat() {
196	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	bezier_com_traj::ContactData cData;
197	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	20	MatrixX3 normals(2, 3), positions(2, 3);
198	3/6 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken.	20	normals.block<1, 3>(0, 0) = Vector3(0, 0, 1);
199	3/6 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken.	20	positions.block<1, 3>(0, 0) = Vector3(0, 0.1, 0);
200	3/6 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken.	20	normals.block<1, 3>(1, 0) = Vector3(0, 0, 1);
201	3/6 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken.	20	positions.block<1, 3>(1, 0) = Vector3(0, -0.1, 0);
202			std::pair<MatrixX3, MatrixX3> contacts =
203	3/6 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken.	40	computeRectangularContacts(normals, positions, LX, LY);
204	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	40	cData.contactPhase_ = new centroidal_dynamics::Equilibrium(
205	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	20	ComputeContactCone(contacts.first, contacts.second));
206
207			ConstraintsPair kin1 =
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209			ConstraintsPair kin = stackConstraints(
210			kin1,
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212	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	cData.Kin_ = kin.first;
213	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	cData.kin_ = kin.second;
214
215		40	return cData;
216		20	}
217
218		21	bezier_com_traj::ContactData phase1_flat() {
219	1/2 ✓ Branch 1 taken 21 times. ✗ Branch 2 not taken.	21	bezier_com_traj::ContactData cData;
220	2/4 ✓ Branch 1 taken 21 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 21 times. ✗ Branch 5 not taken.	21	MatrixX3 normals(1, 3), positions(1, 3);
221	3/6 ✓ Branch 1 taken 21 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 21 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 21 times. ✗ Branch 8 not taken.	21	normals.block<1, 3>(0, 0) = Vector3(0, 0, 1);
222	3/6 ✓ Branch 1 taken 21 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 21 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 21 times. ✗ Branch 8 not taken.	21	positions.block<1, 3>(0, 0) = Vector3(0, -0.1, 0);
223			std::pair<MatrixX3, MatrixX3> contacts =
224	3/6 ✓ Branch 1 taken 21 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 21 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 21 times. ✗ Branch 8 not taken.	42	computeRectangularContacts(normals, positions, LX, LY);
225	2/4 ✓ Branch 1 taken 21 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 21 times. ✗ Branch 5 not taken.	42	cData.contactPhase_ = new centroidal_dynamics::Equilibrium(
226	2/4 ✓ Branch 1 taken 21 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 21 times. ✗ Branch 5 not taken.	21	ComputeContactCone(contacts.first, contacts.second));
227
228			ConstraintsPair kin =
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230	1/2 ✓ Branch 1 taken 21 times. ✗ Branch 2 not taken.	21	cData.Kin_ = kin.first;
231	1/2 ✓ Branch 1 taken 21 times. ✗ Branch 2 not taken.	21	cData.kin_ = kin.second;
232
233		42	return cData;
234		21	}
235
236		20	bezier_com_traj::ContactData phase2_flat() {
237	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	bezier_com_traj::ContactData cData;
238	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	20	MatrixX3 normals(2, 3), positions(2, 3);
239	3/6 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken.	20	normals.block<1, 3>(0, 0) = Vector3(0, 0, 1);
240	3/6 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken.	20	positions.block<1, 3>(0, 0) = Vector3(0.3, 0.1, 0);
241	3/6 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken.	20	normals.block<1, 3>(1, 0) = Vector3(0, 0, 1);
242	3/6 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken.	20	positions.block<1, 3>(1, 0) = Vector3(0, -0.1, 0);
243			std::pair<MatrixX3, MatrixX3> contacts =
244	3/6 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken.	40	computeRectangularContacts(normals, positions, LX, LY);
245	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	40	cData.contactPhase_ = new centroidal_dynamics::Equilibrium(
246	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	20	ComputeContactCone(contacts.first, contacts.second));
247
248			ConstraintsPair kin1 =
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250			ConstraintsPair kin = stackConstraints(
251			kin1,
252	6/12 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 20 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 20 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 20 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 20 times. ✗ Branch 17 not taken.	40	generateKinematicsConstraints(Matrix3::Identity(), Vector3(0.3, 0.1, 0)));
253	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	cData.Kin_ = kin.first;
254	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	cData.kin_ = kin.second;
255
256		40	return cData;
257		20	}
258
259		20	bezier_com_traj::ProblemData gen_problem_data_flat() {
260		20	bezier_com_traj::ProblemData pData;
261	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	pData.c0_ = Vector3(0, 0, NOMINAL_COM_HEIGHT);
262	1/2 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken.	20	pData.c1_ = Vector3(0.15, 0, NOMINAL_COM_HEIGHT);
263	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	20	pData.dc0_ = Vector3::Zero();
264	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	20	pData.dc1_ = Vector3::Zero();
265	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	20	pData.ddc0_ = Vector3::Zero();
266	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	20	pData.ddc1_ = Vector3::Zero();
267
268	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	20	pData.contacts_.push_back(phase0_flat());
269	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	20	pData.contacts_.push_back(phase1_flat());
270	2/4 ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 20 times. ✗ Branch 5 not taken.	20	pData.contacts_.push_back(phase2_flat());
271
272		20	return pData;
273			}
274
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276			// compute kinematic constraints for the right foot :
277			ConstraintsPair kin1 =
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279			ConstraintsPair kin0 = stackConstraints(
280			kin1,
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282			ConstraintsPair kin2 = stackConstraints(
283			kin1,
284	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken.	4	generateKinematicsConstraints(Matrix3::Identity(), Vector3(0.3, 0.1, 0)));
285
286	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ContactData cDataMid = phase1_flat();
287	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	4	ConstraintsPair stab = generateStabilityConstraints(*cDataMid.contactPhase_);
288
289	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::pair<Matrix3, Vector3> Hg = computeCost();
290	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector3 init = Vector3::Zero();
291
292	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConstraintsPair Ab_first = stackConstraints(kin0, stab);
293			bezier_com_traj::ResultData res_first =
294	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	4	bezier_com_traj::solve(Ab_first, Hg, init);
295	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(res_first.success_);
296
297	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConstraintsPair Ab_second = stackConstraints(kin2, stab);
298			bezier_com_traj::ResultData res_second =
299	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	4	bezier_com_traj::solve(Ab_second, Hg, init);
300	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(res_second.success_);
301	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	delete cDataMid.contactPhase_;
302		2	}
303
304	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(transition) {
305	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
306	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
307	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
308	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts);
309		2	}
310
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312	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
313		2	pData.constraints_.flag_ = bezier_com_traj::INIT_POS \|
314		2	bezier_com_traj::INIT_VEL \|
315			bezier_com_traj::END_VEL;
316	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
317	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
318	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts);
319		2	}
320
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322	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
323		2	pData.contacts_.pop_back();
324		2	pData.contacts_.pop_back();
325		2	pData.constraints_.flag_ = bezier_com_traj::INIT_POS \|
326		2	bezier_com_traj::INIT_VEL \|
327			bezier_com_traj::INIT_ACC;
328	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(1);
329	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Ts << 0.2;
330	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts, false, false, true);
331		2	}
332
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334	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
335		2	pData.constraints_.flag_ ^= bezier_com_traj::END_VEL;
336	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
337	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
338	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts);
339		2	}
340
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342	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
343		2	pData.constraints_.flag_ \|= bezier_com_traj::INIT_ACC;
344	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
345	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
346	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts);
347		2	}
348
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350	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
351		2	pData.constraints_.flag_ \|= bezier_com_traj::INIT_ACC;
352		2	pData.constraints_.flag_ \|= bezier_com_traj::END_ACC;
353	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
354	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
355	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts);
356		2	}
357
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359	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
360		2	pData.constraints_.constraintAcceleration_ = false;
361	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
362	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
363	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts);
364		2	}
365
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367	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
368		2	pData.constraints_.flag_ ^= bezier_com_traj::END_VEL;
369		2	pData.constraints_.constraintAcceleration_ = false;
370	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
371	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
372	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts);
373		2	}
374	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	2	BOOST_AUTO_TEST_CASE(transition_ddc0_noAcc) {
375	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
376		2	pData.constraints_.flag_ \|= bezier_com_traj::INIT_ACC;
377		2	pData.constraints_.constraintAcceleration_ = false;
378	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
379	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
380	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts);
381		2	}
382
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384	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
385			pData.constraints_.flag_ \|=
386		2	bezier_com_traj::INIT_ACC \| bezier_com_traj::END_ACC;
387		2	pData.constraints_.constraintAcceleration_ = false;
388	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
389	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
390	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts);
391		2	}
392
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394	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
395		2	pData.constraints_.maxAcceleration_ = 1.;
396	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
397	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
398	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts, false, false,
399			false); // fail with continuous formulation
400		2	}
401
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403	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
404		2	pData.constraints_.flag_ ^= bezier_com_traj::END_VEL;
405		2	pData.constraints_.maxAcceleration_ = 1.;
406	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
407	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
408	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts, false, false,
409			false); // fail with continuous formulation
410		2	}
411	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	2	BOOST_AUTO_TEST_CASE(transition_ddc0_Acc2) {
412	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
413		2	pData.constraints_.flag_ \|= bezier_com_traj::INIT_ACC;
414		2	pData.constraints_.maxAcceleration_ = 2.;
415	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
416	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
417	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts, false, false,
418			false); // fail with continuous formulation
419		2	}
420
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422	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
423			pData.constraints_.flag_ \|=
424		2	bezier_com_traj::INIT_ACC \| bezier_com_traj::END_ACC;
425		2	pData.constraints_.maxAcceleration_ = 2.;
426	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
427	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
428	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts);
429		2	}
430
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432	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
433			pData.constraints_.flag_ \|=
434		2	bezier_com_traj::INIT_ACC \| bezier_com_traj::END_ACC;
435		2	pData.constraints_.maxAcceleration_ = 0.5;
436	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
437	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
438	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts, false, false,
439			false); // fail with continuous formulation
440		2	}
441
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443	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
444		2	pData.constraints_.maxAcceleration_ = 0.5;
445	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
446	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
447	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts, false, false,
448			false); // fail with continuous formulation
449		2	}
450
451			// constraints that should fails :
452
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454	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
455		2	pData.constraints_.maxAcceleration_ = 0.2;
456		2	pData.constraints_.constraintAcceleration_ = true;
457	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
458	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
459	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts, true);
460		2	}
461
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463	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
464		2	pData.constraints_.flag_ ^= bezier_com_traj::END_VEL;
465		2	pData.constraints_.maxAcceleration_ = 0.5;
466		2	pData.constraints_.constraintAcceleration_ = true;
467	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
468	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
469	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts, true);
470		2	}
471
472	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(transition_ddc0_Acc1) {
473	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
474		2	pData.constraints_.flag_ \|= bezier_com_traj::INIT_ACC;
475		2	pData.constraints_.maxAcceleration_ = 1.;
476		2	pData.constraints_.constraintAcceleration_ = true;
477	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
478	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
479	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts, true);
480		2	}
481
482	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(transition_ddc0_ddc1_Acc02) {
483	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_flat();
484			pData.constraints_.flag_ \|=
485		2	bezier_com_traj::INIT_ACC \| bezier_com_traj::END_ACC;
486		2	pData.constraints_.maxAcceleration_ = 0.2;
487		2	pData.constraints_.constraintAcceleration_ = true;
488	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
489	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.6, 0.6, 0.6;
490	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts, true);
491		2	}
492
493			BOOST_AUTO_TEST_SUITE_END()
494
495			BOOST_AUTO_TEST_SUITE(platform)
496
497			// platform : first step :
498			// (0.35,0.1,0) ; (0.35,-0.1,0) -> (0.775, 0.23, -0.02);(0.35,-0.1,0) (normal :
499			// 0.0, -0.423, 0.906)
500
501			// second step :
502			// (0.775, 0.23, -0.02);(0.35,-0.1,0) -> (0.775, 0.23, -0.02);(1.15,-0.1,0)
503			// unfeasible in quasi-static
504
505			// third step :
506			//(0.775, 0.23, -0.02);(1.15,-0.1,0) -> (1.15,0.1,0);(1.15,-0.1,0)
507
508		2	bezier_com_traj::ContactData phase0_platform() {
509	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ContactData cData;
510	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	2	MatrixX3 normals(2, 3), positions(2, 3);
511	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	normals.block<1, 3>(0, 0) = Vector3(0, 0, 1);
512	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	positions.block<1, 3>(0, 0) = Vector3(0.35, 0.1, 0);
513	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	normals.block<1, 3>(1, 0) = Vector3(0, 0, 1);
514	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	positions.block<1, 3>(1, 0) = Vector3(0.35, -0.1, 0);
515			std::pair<MatrixX3, MatrixX3> contacts =
516	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	computeRectangularContacts(normals, positions, LX, LY);
517	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	cData.contactPhase_ = new centroidal_dynamics::Equilibrium(
518	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	2	ComputeContactCone(contacts.first, contacts.second));
519
520	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	ConstraintsPair kin1 = generateKinematicsConstraints(Matrix3::Identity(),
521	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	Vector3(0.35, -0.1, 0));
522			ConstraintsPair kin =
523	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	2	stackConstraints(kin1, generateKinematicsConstraints(
524	4/8 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken.	6	Matrix3::Identity(), Vector3(0.35, 0.1, 0)));
525	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	cData.Kin_ = kin.first;
526	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	cData.kin_ = kin.second;
527
528		4	return cData;
529		2	}
530
531		2	bezier_com_traj::ContactData phase1_platform() {
532	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ContactData cData;
533	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	2	MatrixX3 normals(1, 3), positions(1, 3);
534	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	normals.block<1, 3>(0, 0) = Vector3(0, 0, 1);
535	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	positions.block<1, 3>(0, 0) = Vector3(0.35, -0.1, 0);
536			std::pair<MatrixX3, MatrixX3> contacts =
537	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	computeRectangularContacts(normals, positions, LX, LY);
538	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	cData.contactPhase_ = new centroidal_dynamics::Equilibrium(
539	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	2	ComputeContactCone(contacts.first, contacts.second));
540
541	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	ConstraintsPair kin = generateKinematicsConstraints(Matrix3::Identity(),
542	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	Vector3(0.35, -0.1, 0));
543	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	cData.Kin_ = kin.first;
544	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	cData.kin_ = kin.second;
545
546		4	return cData;
547		2	}
548
549		4	bezier_com_traj::ContactData phase2_platform() {
550	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	bezier_com_traj::ContactData cData;
551	2/4 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken.	4	MatrixX3 normals(2, 3), positions(2, 3);
552	4/8 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 4 times. ✗ Branch 11 not taken.	4	normals.block<1, 3>(0, 0) = Vector3(0.0, -0.423, 0.906).normalized();
553	3/6 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken.	4	positions.block<1, 3>(0, 0) = Vector3(0.775, 0.23, -0.02);
554	3/6 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken.	4	normals.block<1, 3>(1, 0) = Vector3(0, 0, 1);
555	3/6 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken.	4	positions.block<1, 3>(1, 0) = Vector3(0.35, -0.1, 0);
556			std::pair<MatrixX3, MatrixX3> contacts =
557	3/6 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken.	8	computeRectangularContacts(normals, positions, LX, LY);
558	2/4 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken.	8	cData.contactPhase_ = new centroidal_dynamics::Equilibrium(
559	2/4 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken.	4	ComputeContactCone(contacts.first, contacts.second));
560
561	3/6 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken.	4	ConstraintsPair kin1 = generateKinematicsConstraints(Matrix3::Identity(),
562	2/4 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken.	8	Vector3(0.35, -0.1, 0));
563			Eigen::Quaterniond quat = Eigen::Quaterniond::FromTwoVectors(
564	3/6 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken.	4	Eigen::Vector3d::UnitZ(), Eigen::Vector3d(0.0, -0.423, 0.906));
565	2/4 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken.	4	Matrix3 rot = quat.normalized().toRotationMatrix();
566			ConstraintsPair kin = stackConstraints(
567	5/10 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 4 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 4 times. ✗ Branch 14 not taken.	8	kin1, generateKinematicsConstraints(rot, Vector3(0.775, 0.23, -0.02)));
568	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	cData.Kin_ = kin.first;
569	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	cData.kin_ = kin.second;
570
571		8	return cData;
572		4	}
573
574		2	bezier_com_traj::ContactData phase3_platform() {
575	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ContactData cData;
576	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	2	MatrixX3 normals(1, 3), positions(1, 3);
577	4/8 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken.	2	normals.block<1, 3>(0, 0) = Vector3(0.0, -0.423, 0.906).normalized();
578	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	positions.block<1, 3>(0, 0) = Vector3(0.775, 0.23, -0.02);
579
580			std::pair<MatrixX3, MatrixX3> contacts =
581	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	computeRectangularContacts(normals, positions, LX, LY);
582	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	cData.contactPhase_ = new centroidal_dynamics::Equilibrium(
583	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	2	ComputeContactCone(contacts.first, contacts.second));
584
585			Eigen::Quaterniond quat = Eigen::Quaterniond::FromTwoVectors(
586	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	Eigen::Vector3d::UnitZ(), Eigen::Vector3d(0.0, -0.423, 0.906));
587	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	2	Matrix3 rot = quat.normalized().toRotationMatrix();
588			ConstraintsPair kin =
589	4/8 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken.	2	generateKinematicsConstraints(rot, Vector3(0.775, 0.23, -0.02));
590	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	cData.Kin_ = kin.first;
591	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	cData.kin_ = kin.second;
592
593		4	return cData;
594		2	}
595
596		4	bezier_com_traj::ContactData phase4_platform() {
597	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	bezier_com_traj::ContactData cData;
598	2/4 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken.	4	MatrixX3 normals(2, 3), positions(2, 3);
599	4/8 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 4 times. ✗ Branch 11 not taken.	4	normals.block<1, 3>(0, 0) = Vector3(0.0, -0.423, 0.906).normalized();
600	3/6 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken.	4	positions.block<1, 3>(0, 0) = Vector3(0.775, 0.23, -0.02);
601	3/6 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken.	4	normals.block<1, 3>(1, 0) = Vector3(0, 0, 1);
602	3/6 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken.	4	positions.block<1, 3>(1, 0) = Vector3(1.15, -0.1, 0);
603			std::pair<MatrixX3, MatrixX3> contacts =
604	3/6 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken.	8	computeRectangularContacts(normals, positions, LX, LY);
605	2/4 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken.	8	cData.contactPhase_ = new centroidal_dynamics::Equilibrium(
606	2/4 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken.	4	ComputeContactCone(contacts.first, contacts.second));
607
608	3/6 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken.	4	ConstraintsPair kin1 = generateKinematicsConstraints(Matrix3::Identity(),
609	2/4 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken.	8	Vector3(1.15, -0.1, 0));
610			Eigen::Quaterniond quat = Eigen::Quaterniond::FromTwoVectors(
611	3/6 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken.	4	Eigen::Vector3d::UnitZ(), Eigen::Vector3d(0.0, -0.423, 0.906));
612	2/4 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken.	4	Matrix3 rot = quat.normalized().toRotationMatrix();
613			ConstraintsPair kin = stackConstraints(
614	5/10 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 4 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 4 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 4 times. ✗ Branch 14 not taken.	8	kin1, generateKinematicsConstraints(rot, Vector3(0.775, 0.23, -0.02)));
615	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	cData.Kin_ = kin.first;
616	1/2 ✓ Branch 1 taken 4 times. ✗ Branch 2 not taken.	4	cData.kin_ = kin.second;
617
618		8	return cData;
619		4	}
620
621		2	bezier_com_traj::ContactData phase5_platform() {
622	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ContactData cData;
623	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	2	MatrixX3 normals(1, 3), positions(1, 3);
624	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	normals.block<1, 3>(0, 0) = Vector3(0, 0, 1);
625	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	positions.block<1, 3>(0, 0) = Vector3(1.15, -0.1, 0);
626
627			std::pair<MatrixX3, MatrixX3> contacts =
628	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	computeRectangularContacts(normals, positions, LX, LY);
629	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	cData.contactPhase_ = new centroidal_dynamics::Equilibrium(
630	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	2	ComputeContactCone(contacts.first, contacts.second));
631
632	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	ConstraintsPair kin = generateKinematicsConstraints(Matrix3::Identity(),
633	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	Vector3(1.15, -0.1, 0));
634	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	cData.Kin_ = kin.first;
635	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	cData.kin_ = kin.second;
636
637		4	return cData;
638		2	}
639
640		2	bezier_com_traj::ContactData phase6_platform() {
641	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ContactData cData;
642	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	2	MatrixX3 normals(2, 3), positions(2, 3);
643	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	normals.block<1, 3>(0, 0) = Vector3(0, 0, 1);
644	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	positions.block<1, 3>(0, 0) = Vector3(1.15, -0.1, 0);
645	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	normals.block<1, 3>(1, 0) = Vector3(0, 0, 1);
646	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	positions.block<1, 3>(1, 0) = Vector3(1.15, 0.1, 0);
647
648			std::pair<MatrixX3, MatrixX3> contacts =
649	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	4	computeRectangularContacts(normals, positions, LX, LY);
650	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	cData.contactPhase_ = new centroidal_dynamics::Equilibrium(
651	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	2	ComputeContactCone(contacts.first, contacts.second));
652
653	3/6 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken.	2	ConstraintsPair kin1 = generateKinematicsConstraints(Matrix3::Identity(),
654	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	4	Vector3(1.15, -0.1, 0));
655			ConstraintsPair kin =
656	2/4 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken.	2	stackConstraints(kin1, generateKinematicsConstraints(
657	4/8 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 2 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 2 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 2 times. ✗ Branch 11 not taken.	6	Matrix3::Identity(), Vector3(1.15, 0.1, 0)));
658	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	cData.Kin_ = kin.first;
659	1/2 ✓ Branch 1 taken 2 times. ✗ Branch 2 not taken.	2	cData.kin_ = kin.second;
660
661		4	return cData;
662		2	}
663
664		1	bezier_com_traj::ProblemData gen_problem_data_Step0() {
665		1	bezier_com_traj::ProblemData pData;
666	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pData.c0_ = Vector3(0.35, 0, NOMINAL_COM_HEIGHT);
667	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pData.c1_ = Vector3(0.56, 0.04, NOMINAL_COM_HEIGHT);
668	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.dc0_ = Vector3::Zero();
669	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.dc1_ = Vector3::Zero();
670	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.ddc0_ = Vector3::Zero();
671	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.ddc1_ = Vector3::Zero();
672
673	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.contacts_.push_back(phase0_platform());
674	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.contacts_.push_back(phase1_platform());
675	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.contacts_.push_back(phase2_platform());
676
677		1	return pData;
678			}
679
680		1	bezier_com_traj::ProblemData gen_problem_data_Step1() {
681		1	bezier_com_traj::ProblemData pData;
682	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pData.c0_ = Vector3(0.56, 0.04, 0.765);
683	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pData.c1_ = Vector3(0.98, 0.02, 0.77);
684	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.dc0_ = Vector3::Zero();
685	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.dc1_ = Vector3::Zero();
686	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.ddc0_ = Vector3::Zero();
687	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.ddc1_ = Vector3::Zero();
688
689	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.contacts_.push_back(phase2_platform());
690	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.contacts_.push_back(phase3_platform());
691	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.contacts_.push_back(phase4_platform());
692
693		1	return pData;
694			}
695
696		1	bezier_com_traj::ProblemData gen_problem_data_Step2() {
697		1	bezier_com_traj::ProblemData pData;
698	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pData.c0_ = Vector3(0.98, 0.04, NOMINAL_COM_HEIGHT);
699	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	pData.c1_ = Vector3(1.15, 0, NOMINAL_COM_HEIGHT);
700	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.dc0_ = Vector3::Zero();
701	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.dc1_ = Vector3::Zero();
702	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.ddc0_ = Vector3::Zero();
703	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.ddc1_ = Vector3::Zero();
704
705	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.contacts_.push_back(phase4_platform());
706	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.contacts_.push_back(phase5_platform());
707	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	1	pData.contacts_.push_back(phase6_platform());
708
709		1	return pData;
710			}
711
712	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(quasi_static_0) {
713			// should be successfull in quasiStatic
714			// compute kinematic constraints for the right foot :
715	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ContactData cDataFirst = phase0_platform();
716	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ContactData cDataMid = phase1_platform();
717	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ContactData cDataSecond = phase2_platform();
718
719	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConstraintsPair kin_first = std::make_pair(cDataFirst.Kin_, cDataFirst.kin_);
720			ConstraintsPair kin_second =
721	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::make_pair(cDataSecond.Kin_, cDataSecond.kin_);
722	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	4	ConstraintsPair stab = generateStabilityConstraints(*cDataMid.contactPhase_);
723	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::pair<Matrix3, Vector3> Hg = computeCost();
724	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector3 init = Vector3::Zero();
725
726	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConstraintsPair Ab_first = stackConstraints(kin_first, stab);
727			bezier_com_traj::ResultData res_first =
728	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	4	bezier_com_traj::solve(Ab_first, Hg, init);
729	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(res_first.success_);
730
731	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConstraintsPair Ab_second = stackConstraints(kin_second, stab);
732			bezier_com_traj::ResultData res_second =
733	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	4	bezier_com_traj::solve(Ab_second, Hg, init);
734	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(res_second.success_);
735
736	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	delete cDataFirst.contactPhase_;
737	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	delete cDataMid.contactPhase_;
738	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	delete cDataSecond.contactPhase_;
739		2	}
740
741	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(quasi_static_1) {
742			// should NOT be successfull in quasiStatic
743			// compute kinematic constraints for the right foot :
744	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ContactData cDataFirst = phase2_platform();
745	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ContactData cDataMid = phase3_platform();
746	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ContactData cDataSecond = phase4_platform();
747
748	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConstraintsPair kin_first = std::make_pair(cDataFirst.Kin_, cDataFirst.kin_);
749			ConstraintsPair kin_second =
750	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::make_pair(cDataSecond.Kin_, cDataSecond.kin_);
751	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	4	ConstraintsPair stab = generateStabilityConstraints(*cDataMid.contactPhase_);
752	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::pair<Matrix3, Vector3> Hg = computeCost();
753	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector3 init = Vector3::Zero();
754
755	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConstraintsPair Ab_first = stackConstraints(kin_first, stab);
756			bezier_com_traj::ResultData res_first =
757	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	4	bezier_com_traj::solve(Ab_first, Hg, init);
758	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(!res_first.success_);
759
760	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConstraintsPair Ab_second = stackConstraints(kin_second, stab);
761			bezier_com_traj::ResultData res_second =
762	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	4	bezier_com_traj::solve(Ab_second, Hg, init);
763	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(!res_second.success_);
764
765	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	delete cDataFirst.contactPhase_;
766	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	delete cDataMid.contactPhase_;
767	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	delete cDataSecond.contactPhase_;
768		2	}
769
770	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(quasi_static_2) {
771			// should be successfull in quasiStatic
772			// compute kinematic constraints for the right foot :
773	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ContactData cDataFirst = phase4_platform();
774	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ContactData cDataMid = phase5_platform();
775	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ContactData cDataSecond = phase6_platform();
776
777	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConstraintsPair kin_first = std::make_pair(cDataFirst.Kin_, cDataFirst.kin_);
778			ConstraintsPair kin_second =
779	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::make_pair(cDataSecond.Kin_, cDataSecond.kin_);
780	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken.	4	ConstraintsPair stab = generateStabilityConstraints(*cDataMid.contactPhase_);
781	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::pair<Matrix3, Vector3> Hg = computeCost();
782	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	Vector3 init = Vector3::Zero();
783
784	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConstraintsPair Ab_first = stackConstraints(kin_first, stab);
785			bezier_com_traj::ResultData res_first =
786	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	4	bezier_com_traj::solve(Ab_first, Hg, init);
787	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(res_first.success_);
788
789	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	ConstraintsPair Ab_second = stackConstraints(kin_second, stab);
790			bezier_com_traj::ResultData res_second =
791	4/8 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken.	4	bezier_com_traj::solve(Ab_second, Hg, init);
792	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(res_second.success_);
793
794	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	delete cDataFirst.contactPhase_;
795	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	delete cDataMid.contactPhase_;
796	1/2 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken.	2	delete cDataSecond.contactPhase_;
797		2	}
798
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800	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_Step0();
801	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
802	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.8, 0.6, 0.8;
803	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts);
804		2	}
805
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807	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_Step1();
808	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
809	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.4, 0.2, 0.4;
810
811	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts);
812		2	}
813
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815	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	bezier_com_traj::ProblemData pData = gen_problem_data_Step2();
816	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	VectorX Ts(3);
817	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	Ts << 0.8, 0.6, 0.8;
818
819	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	check_transition(pData, Ts);
820		2	}
821
822			BOOST_AUTO_TEST_SUITE_END()
823